Login
       
  • Pose Sensor for STIFF-FLOP Manipulator

Sareh, Sina, Noh, Yohan, Ranzani, Tommaso, Li, Min and Althoefer, Kaspar, 2018, Book Section, Pose Sensor for STIFF-FLOP Manipulator In: Konstantinova, Jelizaveta, Wurdemann, Helge, Shafti, Ali, Shiva, Ali and Althoefer, Kaspar, (eds.) Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach. River Publishers, pp. 109-127. ISBN 9788793519725

Abstract or Description:

The STIFF-FLOP robotic arm is a cylindrical structure made from soft silicone rubber materials encasing pneumatic actuation chambers. Its material properties and structure allows for the shape, and therefore the pose of the arm, to be dictated by the actuation system as well as by the surfaces with which it is interacting. Although this softness and flexibility makes it inherently safe for many medical and industrial applications, such as keyhole surgery, it comes at the expense of complicating sensing and position control. This chapter presents the main challenges for the development of a pose sensor for soft robotic arms and the STIFF-FLOP approach to tackle them.

Official URL: http://www.riverpublishers.com/pdf/ebook/RP_E97887...
Subjects: Other > Engineering > H600 Electronic and Electrical Engineering
Other > Engineering > H600 Electronic and Electrical Engineering > H670 Robotics and Cybernetics
Other > Engineering > H600 Electronic and Electrical Engineering > H670 Robotics and Cybernetics > H671 Robotics
School or Centre: School of Design
Identification Number or DOI: https://doi.org/10.13052/rp-9788793519718
Date Deposited: 03 Jul 2018 09:54
Last Modified: 03 Jul 2018 09:54
URI: http://researchonline.rca.ac.uk/id/eprint/3526

Actions (login required)

View Item View Item